Soft-bubble grippers for robust and perceptive manipulation

@article{Kuppuswamy2020SoftbubbleGF,
  title={Soft-bubble grippers for robust and perceptive manipulation},
  author={Naveen Suresh Kuppuswamy and Alexander Alspach and Avinash Uttamchandani and Sam Creasey and Takuya Ikeda and Russ Tedrake},
  journal={2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
  year={2020},
  pages={9917-9924}
}
Manipulation in cluttered environments like homes requires stable grasps, precise placement and robustness against external contact. Towards addressing these challenges, we present the Soft-bubble gripper system that combines highly compliant gripping surfaces with dense-geometry visuotactile sensing and facilitates multiple kinds of tactile perception. We first present several mechanical design advances on the Soft-bubble sensors including a fabrication technique to deposit custom patterns to… 

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